GSD optimization, Dockerfile updates, ignore-gsd arg, small refactoring

Former-commit-id: f4352e3fee

Dockerfile

@@ -21,7 +21,7 @@ libexiv2-dev liblas-bin python-matplotlib libatlas-base-dev swig2.0 python-wheel
 RUN apt-get remove libdc1394-22-dev
 RUN pip install --upgrade pip
 RUN pip install setuptools
-RUN pip install -U PyYAML exifread gpxpy xmltodict catkin-pkg appsettings https://github.com/gipit/gippy/archive/v1.0.0.zip loky shapely numpy pyproj psutil && pip install -U scipy --ignore-installed
+RUN pip install -U PyYAML exifread gpxpy xmltodict catkin-pkg appsettings https://github.com/gipit/gippy/archive/v1.0.0.zip loky shapely numpy pyproj psutil repoze.lru && pip install -U scipy --ignore-installed
 
 ENV PYTHONPATH="$PYTHONPATH:/code/SuperBuild/install/lib/python2.7/dist-packages"
 ENV PYTHONPATH="$PYTHONPATH:/code/SuperBuild/src/opensfm"

SuperBuild/cmake/External-OpenSfM.cmake

@@ -8,8 +8,7 @@ ExternalProject_Add(${_proj_name}
   STAMP_DIR         ${_SB_BINARY_DIR}/stamp
   #--Download step--------------
   DOWNLOAD_DIR      ${SB_DOWNLOAD_DIR}
-  URL               https://github.com/mapillary/OpenSfM/archive/93ae099862297c36ae94dd56fca1c062aa2bb60d.zip
-  URL_MD5           f0d8ec8a8dc9e0f6fd55f77d5407e50f
+  URL               https://github.com/pierotofy/OpenSfM/archive/pngscale.zip
   #--Update/Patch step----------
   UPDATE_COMMAND    ""
   #--Configure step-------------

configure.sh

@@ -78,7 +78,8 @@ install() {
                         gpxpy \
                         xmltodict \
                         appsettings \
-                        loky
+                        loky \
+                        repoze.lru
 
     echo "Installing Ecto Dependencies"
     pip install -U catkin-pkg

core2.Dockerfile

@@ -19,7 +19,7 @@ libexiv2-dev liblas-bin python-matplotlib libatlas-base-dev swig2.0 python-wheel
 RUN apt-get remove libdc1394-22-dev
 RUN pip install --upgrade pip
 RUN pip install setuptools
-RUN pip install -U PyYAML exifread gpxpy xmltodict catkin-pkg appsettings https://github.com/gipit/gippy/archive/v1.0.0.zip loky shapely numpy pyproj psutil && pip install -U scipy --ignore-installed
+RUN pip install -U PyYAML exifread gpxpy xmltodict catkin-pkg appsettings https://github.com/gipit/gippy/archive/v1.0.0.zip loky shapely numpy pyproj psutil repoze.lru && pip install -U scipy --ignore-installed
 
 ENV PYTHONPATH="$PYTHONPATH:/code/SuperBuild/install/lib/python2.7/dist-packages"
 ENV PYTHONPATH="$PYTHONPATH:/code/SuperBuild/src/opensfm"

opendm/config.py

@@ -203,6 +203,14 @@ def config():
                         default=False,
                         help='Use opensfm to compute dense point cloud alternatively')
 
+    parser.add_argument('--ignore-gsd',
+                        action='store_true',
+                        default=False,
+                        help='Ignore Ground Sampling Distance (GSD). GSD '
+                        'caps the maximum resolution of image outputs and '
+                        'resizes images when necessary, resulting in faster processing and '
+                        'lower memory usage. Since GSD is an estimate, sometimes ignoring it can result in slightly better image output quality.')
+
     parser.add_argument('--smvs-alpha',
                         metavar='<float>',
                         default=1.0,
@@ -540,9 +548,8 @@ def config():
         sys.exit(1)
 
     if args.fast_orthophoto:
-      log.ODM_INFO('Fast orthophoto is turned on, automatically setting --skip-3dmodel and --use-opensfm-dense')
+      log.ODM_INFO('Fast orthophoto is turned on, automatically setting --skip-3dmodel')
       args.skip_3dmodel = True
-      args.use_opensfm_dense = True
 
     if args.dtm and args.pc_classify == 'none':
       log.ODM_INFO("DTM is turned on, automatically turning on point cloud classification")

opendm/gsd.py

@@ -1,31 +1,53 @@
 import os
 import json
 import numpy as np
-import functools
+from repoze.lru import lru_cache
 from opendm import log
 
-def cap_resolution(resolution, reconstruction_json):
+def image_scale_factor(target_resolution, reconstruction_json, gsd_error_estimate = 0.1):
     """
-    :param resolution resolution in cm / pixel
+    :param target_resolution resolution the user wants have in cm / pixel
     :param reconstruction_json path to OpenSfM's reconstruction.json
-    :return The max value between resolution and the GSD computed from the reconstruction.
-        If a GSD cannot be computed, it just returns resolution. Units are in cm / pixel.
+    :param gsd_error_estimate percentage of estimated error in the GSD calculation to set an upper bound on resolution.
+    :return A down-scale (<= 1) value to apply to images to achieve the target resolution by comparing the current GSD of the reconstruction.
+        If a GSD cannot be computed, it just returns 1. Returned scale values are never higher than 1.
     """
     gsd = opensfm_reconstruction_average_gsd(reconstruction_json)
 
+    if gsd is not None and target_resolution > 0:
+        gsd = gsd * (1 + gsd_error_estimate)
+        return min(1, gsd / target_resolution)
+    else:
+        return 1
+
+
+def cap_resolution(resolution, reconstruction_json, gsd_error_estimate = 0.1, ignore_gsd=False):
+    """
+    :param resolution resolution in cm / pixel
+    :param reconstruction_json path to OpenSfM's reconstruction.json
+    :param gsd_error_estimate percentage of estimated error in the GSD calculation to set an upper bound on resolution.
+    :param ignore_gsd when set to True, forces the function to just return resolution.
+    :return The max value between resolution and the GSD computed from the reconstruction.
+        If a GSD cannot be computed, or ignore_gsd is set to True, it just returns resolution. Units are in cm / pixel.
+    """
+    if ignore_gsd:
+        return resolution
+
+    gsd = opensfm_reconstruction_average_gsd(reconstruction_json)
+
     if gsd is not None:
-        log.ODM_INFO('Ground Sampling Distance: {} cm / pixel'.format(round(gsd, 2))
+        gsd = gsd * (1 - gsd_error_estimate)
         if gsd > resolution:
-            log.ODM_WARNING('Maximum resolution set to GSD (requested resolution was {})'.format(round(resolution, 2)))
+            log.ODM_WARNING('Maximum resolution set to GSD - {}% ({} cm / pixel, requested resolution was {} cm / pixel)'.format(gsd_error_estimate * 100, round(gsd, 2), round(resolution, 2)))
             return gsd
         else:
             return resolution
     else:
-        log.ODM_WARNING('Cannot calculate GSD, using requested resolution of {}'.format(round(resolution, 2))
+        log.ODM_WARNING('Cannot calculate GSD, using requested resolution of {}'.format(round(resolution, 2)))
         return resolution
 
 
-@functools.lru_cache(maxsize=None, typed=False)
+@lru_cache(maxsize=None)
 def opensfm_reconstruction_average_gsd(reconstruction_json):
     """
     Computes the average Ground Sampling Distance of an OpenSfM reconstruction.
@@ -62,7 +84,12 @@ def opensfm_reconstruction_average_gsd(reconstruction_json):
                                                         shot_height - ground_height, 
                                                         camera['width']))
     
-    return np.mean(gsds) if len(gsds) > 0 else None
+    if len(gsds) > 0:
+        mean = np.mean(gsds)
+        if mean > 0:
+            return mean
+    
+    return None
 
 def calculate_gsd(sensor_width, flight_height, focal_length, image_width):
     """

scripts/mvstex.py

@@ -103,15 +103,10 @@ class ODMMvsTexCell(ecto.Cell):
                     'keepUnseenFaces': keepUnseenFaces,
                     'toneMapping': self.params.tone_mapping,
                     'nadirMode': nadir,
-                    'nadirWeight': 2 ** args.texturing_nadir_weight - 1
+                    'nadirWeight': 2 ** args.texturing_nadir_weight - 1,
+                    'nvm_file': io.join_paths(tree.opensfm, "reconstruction.nvm")
                 }
 
-                if args.use_opensfm_dense:
-                    kwargs['nvm_file'] = io.join_paths(tree.opensfm,
-                                                       "reconstruction.nvm")
-                else:
-                    kwargs['nvm_file'] = tree.smvs + "::undistorted"
-
                 # Make sure tmp directory is empty
                 mvs_tmp_dir = os.path.join(r['out_dir'], 'tmp')
                 if io.dir_exists(mvs_tmp_dir):

scripts/odm_app.py

@@ -118,13 +118,14 @@ class ODMApp(ecto.BlackBox):
                         self.args[:] >> self.opensfm['args'],
                         self.dataset['reconstruction'] >> self.opensfm['reconstruction']]
 
-        if p.args.use_opensfm_dense:
+        if p.args.use_opensfm_dense or p.args.fast_orthophoto:
             # create odm mesh from opensfm point cloud
             connections += [self.tree[:] >> self.meshing['tree'],
                             self.args[:] >> self.meshing['args'],
                             self.opensfm['reconstruction'] >> self.meshing['reconstruction']]
         else:
             # run smvs
+
             connections += [self.tree[:] >> self.smvs['tree'],
                             self.args[:] >> self.smvs['args'],
                             self.opensfm['reconstruction'] >> self.smvs['reconstruction']]

scripts/odm_dem.py

@@ -92,7 +92,7 @@ class ODMDEMCell(ecto.Cell):
                 if args.dsm: products.append('dsm')
                 if args.dtm: products.append('dtm')
                 
-                resolution = gsd.cap_resolution(args.dem_resolution, tree.opensfm_reconstruction)
+                resolution = gsd.cap_resolution(args.dem_resolution, tree.opensfm_reconstruction, ignore_gsd=args.ignore_gsd)
                 radius_steps = [(resolution / 100.0) / 2.0]
                 for _ in range(args.dem_gapfill_steps - 1):
                     radius_steps.append(radius_steps[-1] * 2) # 2 is arbitrary, maybe there's a better value?

scripts/odm_meshing.py

@@ -50,10 +50,10 @@ class ODMeshingCell(ecto.Cell):
                       'odm_meshing' in args.rerun_from)
 
         infile = tree.smvs_model
-        if args.use_opensfm_dense:
-          infile = tree.opensfm_model
-        elif args.fast_orthophoto:
+        if args.fast_orthophoto:
           infile = os.path.join(tree.opensfm, 'reconstruction.ply')
+        elif args.use_opensfm_dense:
+          infile = tree.opensfm_model
 
         # Create full 3D model unless --skip-3dmodel is set
         if not args.skip_3dmodel:
@@ -79,7 +79,7 @@ class ODMeshingCell(ecto.Cell):
           if not io.file_exists(tree.odm_25dmesh) or rerun_cell:
 
               log.ODM_DEBUG('Writing ODM 2.5D Mesh file in: %s' % tree.odm_25dmesh)
-              dsm_resolution = gsd.cap_resolution(args.orthophoto_resolution, tree.opensfm_reconstruction) / 100.0 
+              dsm_resolution = gsd.cap_resolution(args.orthophoto_resolution, tree.opensfm_reconstruction, ignore_gsd=args.ignore_gsd) / 100.0 
 
               # Create reference DSM at half ortho resolution
               dsm_resolution *= 2

scripts/odm_orthophoto.py

@@ -57,7 +57,7 @@ class ODMOrthoPhotoCell(ecto.Cell):
                 'log': tree.odm_orthophoto_log,
                 'ortho': tree.odm_orthophoto_file,
                 'corners': tree.odm_orthophoto_corners,
-                'res': 1.0 / (gsd.cap_resolution(self.params.resolution, tree.reconstruction_json) / 100.0),
+                'res': 1.0 / (gsd.cap_resolution(self.params.resolution, tree.opensfm_reconstruction, ignore_gsd=args.ignore_gsd) / 100.0),
                 'verbose': verbose
             }
 

scripts/run_opensfm.py

@@ -4,7 +4,7 @@ from opendm import log
 from opendm import io
 from opendm import system
 from opendm import context
-
+from opendm import gsd
 
 class ODMOpenSfMCell(ecto.Cell):
     def declare_params(self, params):
@@ -50,10 +50,10 @@ class ODMOpenSfMCell(ecto.Cell):
                      (args.rerun_from is not None and
                       'opensfm' in args.rerun_from)
 
-        if args.use_opensfm_dense:
+        if args.fast_orthophoto:
+            output_file = io.join_paths(tree.opensfm, 'reconstruction.ply')
+        elif args.use_opensfm_dense:
             output_file = tree.opensfm_model
-            if args.fast_orthophoto:
-                output_file = io.join_paths(tree.opensfm, 'reconstruction.ply')
         else:
             output_file = tree.opensfm_reconstruction
 
@@ -135,25 +135,37 @@ class ODMOpenSfMCell(ecto.Cell):
                 log.ODM_WARNING('Found a valid OpenSfM reconstruction file in: %s' %
                                 tree.opensfm_reconstruction)
 
-            if args.use_opensfm_dense:
-                if not io.file_exists(tree.opensfm_reconstruction_nvm) or rerun_cell:
-                    system.run('PYTHONPATH=%s %s/bin/opensfm export_visualsfm %s' %
-                               (context.pyopencv_path, context.opensfm_path, tree.opensfm))
-                else:
-                    log.ODM_WARNING('Found a valid OpenSfM NVM reconstruction file in: %s' %
-                                    tree.opensfm_reconstruction_nvm)
+            # Always export VisualSFM's reconstruction and undistort images
+            # as we'll use these for texturing (after GSD estimation and resizing)
+            if not args.ignore_gsd:
+                image_scale = gsd.image_scale_factor(args.orthophoto_resolution, tree.opensfm_reconstruction)
+            else:
+                image_scale = 1.0
 
+            if not io.file_exists(tree.opensfm_reconstruction_nvm) or rerun_cell:
+                system.run('PYTHONPATH=%s %s/bin/opensfm export_visualsfm --image_extension png --scale_focal %s %s' %
+                            (context.pyopencv_path, context.opensfm_path, image_scale, tree.opensfm))
+            else:
+                log.ODM_WARNING('Found a valid OpenSfM NVM reconstruction file in: %s' %
+                                tree.opensfm_reconstruction_nvm)
+
+            # These will be used for texturing
+            system.run('PYTHONPATH=%s %s/bin/opensfm undistort --image_format png --image_scale %s %s' %
+                        (context.pyopencv_path, context.opensfm_path, image_scale, tree.opensfm))
+
+            # Skip dense reconstruction if necessary and export
+            # sparse reconstruction instead
+            if args.fast_orthophoto:
+                system.run('PYTHONPATH=%s %s/bin/opensfm export_ply --no-cameras %s' %
+                        (context.pyopencv_path, context.opensfm_path, tree.opensfm))
+            elif args.use_opensfm_dense:
+                # Undistort images at full scale in JPG
+                # (TODO: we could compare the size of the PNGs if they are < than depthmap_resolution
+                # and use those instead of re-exporting full resolution JPGs)
                 system.run('PYTHONPATH=%s %s/bin/opensfm undistort %s' %
-                           (context.pyopencv_path, context.opensfm_path, tree.opensfm))
-
-                # Skip dense reconstruction if necessary and export
-                # sparse reconstruction instead
-                if args.fast_orthophoto:
-                    system.run('PYTHONPATH=%s %s/bin/opensfm export_ply --no-cameras %s' %
-                           (context.pyopencv_path, context.opensfm_path, tree.opensfm))
-                else:
-                    system.run('PYTHONPATH=%s %s/bin/opensfm compute_depthmaps %s' %
-                           (context.pyopencv_path, context.opensfm_path, tree.opensfm))
+                        (context.pyopencv_path, context.opensfm_path, tree.opensfm))
+                system.run('PYTHONPATH=%s %s/bin/opensfm compute_depthmaps %s' %
+                        (context.pyopencv_path, context.opensfm_path, tree.opensfm))
 
         else:
             log.ODM_WARNING('Found a valid OpenSfM reconstruction file in: %s' %